KR20140000333A - Elevator door control device - Google Patents

Abstract

Even if the speed of a car door and the speed of a landing door differ, the door control apparatus of the elevator which can raise the followability of the actual speed of an elevator door with respect to the speed command value of an elevator door is provided. To this end, a generator for generating a speed command value of the elevator door that is integrated with the car door and the landing door, and the mass of the elevator door is used to drive the elevator door so that the speed of the elevator door matches the speed command value. The speed control part which obtains the motor command value with respect to a motor, and the identification part which identifies the mass of the elevator door at the time of obtaining a motor command value based on the speed of a car door and the speed of a landing door for every opening / closing position of an elevator door were provided.

Description

Elevator door control device {ELEVATOR DOOR CONTROL DEVICE}

The present invention relates to a door control device of an elevator.

The elevator door consists of a car door and a landing door. The engaging device is provided in the car door and the landing door, respectively. The motor is attached to the car door. When this motor is driven, the car door starts to open. Thereafter, the engaging device of the car door moves relative to the car door. By this movement, the engagement device of the car door and the engagement device of the landing door are engaged. By this engagement, the car door and the landing door are integrated. In this state, the car door and the landing door open.

As such, the door control device on the premise that the speed of the car door coincides with the speed of the landing door is proposed as controlling the operation of the elevator door (see Patent Documents 1 and 2, for example).

Patent Document 1: Japanese Patent No. 3540509 Patent Document 2: Japanese Patent Application Laid-Open No. 2009-155086

However, in an elevator door, the engagement device of the cage door, the landing door, and the engagement device may engage, and the engagement device of the cage door may move relatively with respect to the cage door. In this case, a difference occurs between the speed of the car door and the speed of the landing door. In this state, when the operation of the elevator door is controlled by the door control devices described in Patent Documents 1 and 2, the disturbance increases as the mass of the landing door is larger. As a result, the followability of the actual speed of an elevator door with respect to the speed command value of an elevator door falls.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and its object is to increase the followability of the actual speed of the elevator door to the speed command value of the elevator door even when the speed of the car door and the speed of the landing door are different. It is to provide an elevator door control device.

An elevator door control apparatus according to the present invention includes a generation unit for generating a speed command value of an elevator door in which an elevator door and a landing door are engaged with each other, and the elevator door so that the speed of the elevator door matches the speed command value. A speed control unit for obtaining a motor command value for the motor driving the elevator door using the mass of the motor; and the motor command value based on the speed of the car door and the speed of the landing door for each opening / closing position of the elevator door. It is provided with an identification unit for identifying the mass of the elevator door when obtaining.

According to the present invention, even when the speed of the car door and the speed of the landing door are different, the followability of the actual speed of the elevator door to the speed command value of the elevator door can be increased.

BRIEF DESCRIPTION OF THE DRAWINGS It is a front view of the elevator door which the door control apparatus of the elevator in Embodiment 1 of this invention is used.
It is a block diagram of the door control apparatus of the elevator in Embodiment 1 of this invention.
3 is a view showing the followability of the actual speed of the elevator door to the speed command value when the mass of the elevator door is not identified for each opening / closing position of the elevator door.
It is a figure which shows the followability of the actual speed of an elevator door with respect to the speed command value at the time of identifying the mass of an elevator door for every opening / closing position of an elevator door.
It is a block diagram of the door control apparatus of the elevator in Embodiment 2 of this invention.

EMBODIMENT OF THE INVENTION The form for implementing this invention is demonstrated according to attached drawing. In the drawings, the same or equivalent parts are denoted by the same reference numerals, and redundant description thereof will be omitted or omitted as appropriate.

Embodiment 1

BRIEF DESCRIPTION OF THE DRAWINGS It is a front view of the elevator door which the door control apparatus of the elevator in Embodiment 1 of this invention is used.

The elevator door of FIG. 1 is the same as what was described in Unexamined-Japanese-Patent No. 2006-103882, for example. In FIG. 1, the door panel 1 is arrange | positioned as an elevator door in the entrance (not shown) of a cage | basket | car (not shown). In FIG. 1, the door panel 1 is arrange | positioned in the fully closed position. At the upper end of the door panel 1, a hanging member 2 is provided.

The beam 3 is provided in the upper entrance part of the exit of a cage | basket | car. The beam 3 is arranged with the long side in the horizontal direction. The guide rail 4 is provided in the beam 3. The guide rails 4 are arranged with the long side in the horizontal direction. On the guide rail 4, a hanger roller 5 is provided to be movable in the horizontal direction. The hanging member 2 is attached to the hanger roller 5.

On both sides of the beam 3, the pulley 6 is pivotally mounted. The motor 7 is connected to one side of the pulley 6. In this pulley 6, the driving wire rope 8 is wound in an endless form in a state in which tension is applied. One upper end of the connecting member 9 is connected to the lower side of the electric wire rope 8. One lower end of the connecting member 9 is connected to one of the hanging members 2. The upper end of the other side of the connection member 9 is connected above the electric wire rope 8. The other end of the hanging member 2 is connected to the other lower end of the connecting member 9.

On one side of the beam 3, a link 10 is provided. One end of the link 10 is connected to one end of the beam 3. The other end of the link 10 is arrange | positioned at the center side of the entrance and exit of a cage | basket | car. At the other end of the link 10, a cam 11 is provided. The cam groove 12 is provided in the cam 11.

The door panel 1 is provided with an engaging device 13. The engagement device 13 has a pair of vanes 14, a pair of parallel links 15, and a cam follower 16. The pair of vanes 14 are arranged with the long side in the vertical direction. One of the parallel links 15 is connected between the upper portions of the pair of vanes 14. The other side of the parallel link 15 is connected between the lower part of the pair of vanes 14. The cam follower 16 is provided in the center of the vane 14 on the door stop side. The cam follower 16 is guided to the cam groove 12.

The door panel is arrange | positioned as a landing door at the entrance (not shown) of the landing (not shown) of an elevator. An engaging device (not shown) is provided in the door panel of the landing door. The engaging device of a landing door consists of a landing side roller, for example.

17 is a door control device. The door control device 17 is provided at the top of the car. The door control device 17 is connected to the motor 7. The door control device 17 has a function of controlling a current for driving the motor 7 in response to the speed command value of the elevator.

When the elevator door is completely closed, the interlocking device 13 of the car door and the interlocking device of the landing door maintain a predetermined interval so as not to contact each other. As a result, when the car moves up and down in the hoistway, contact between the interlocking device 13 of the car door and the interlocking device of the landing door is avoided.

When the elevator door is opened with the car facing the platform, the motor 7 is pressurized by the door control device 17. By this pressurization, one side of the pulley 6 rotates. Following this rotation, the electric wire rope 8 moves. Following this movement, the connecting member 9 moves in the door pocket direction. Following the movement, the hanger roller 5 moves in the door pocket direction. Following the movement, the door panel 1 moves toward the door pocket side to move away from each other.

Following the movement of the door panel 1, the link 10 operates. In accordance with this operation, the cam 11 rotates. In accordance with this rotation, the cam follower 16 also moves. In accordance with this movement, the vanes 14 move in a direction closer to each other. By this movement, a pair of vanes 14 sandwich the engaging device of the landing door. As a result, the car door and the landing door are integrated.

The car door and the landing door accelerate immediately after the door opening starts. At this time, the engagement device of the landing door receives the load to the door pocket direction from the vane 14 of the door stop side. As a result, the car door and the landing door remain unified. The car door and the landing door decelerate immediately before a complete opening. At this time, the engagement device of the landing door receives the load in the door opening direction from the vane 14 of the door pocket side. As a result, the car door and the landing door remain unified. After that, the car door and the landing door are completely opened.

When the elevator door is closed, the motor 7 is pressed by the door control device 17. By this pressurization, one side of the pulley 6 rotates. Following this rotation, the electric wire rope 8 moves. Following this movement, the connecting member 9 moves in the door stop direction. Following the movement, the hanger roller 5 moves in the door stop direction. Following this movement, the door panels 1 move toward the door stop side to move closer to each other.

The car door and the landing door accelerate immediately after the door is closed. At this time, the engaging device of the landing door receives the load in the door stop direction from the vane 14 of the door pocket side. As a result, the car door and the landing door remain unified. The car door and the landing door decelerate immediately before a complete closing. At this time, the engagement device of the landing door receives the load to the door pocket direction from the vane 14 of the door stop side. As a result, the car door and the landing door remain unified. After that, the car door and the landing door are completely closed.

Here, the relative position of the vane 14 with respect to the car door depends on the shape of the cam 11 and the shape of the cam groove 12. In FIG. 1, when the car door is opened from the fully closed state, the cam 11 and the cam 11 are completed so that the operation of the vane 14 is completed until either of the vanes 14 contacts the engaging device of the landing door. The cam groove 12 is formed.

In this case, the door control is based on the mass of the vane 14 and the mass of the car door, which are sufficiently small with respect to the mass of the landing door, before the engaging device 13 of the car door and the engaging device of the landing door engage. The device 17 controls the current of the motor 7. Then, when the car door and the landing door engage, the door control device 17 controls the electric current of the motor 7 on the premise that the car door and the landing door open and close at the same speed. For this reason, the mass parameter at the time of controlling the electric current of the motor 7 does not need to be complicated.

However, in the elevator, the manual door opening force from the landing is limited for the purpose of rescue of passengers in the car. For example, according to EN law (8.11 of EN81-1), when the elevator door is not locked while the motor 7 is not driven, a manual door of 300 (N) or less is opened from the landing door. Force the car door to fully open or partially open.

In this case, it is necessary to meet the conditions of manual door opening from the landing after considering the influence of the loss due to the friction between the cam follower 16 and the cam groove 12 and the like. For this reason, the shape of the cam 11 and the shape of the cam groove 12 can be designed so that the movement of the vane 14 is completed before the engagement device 13 of the car door and the engagement device of the landing door are engaged. Can not.

That is, depending on the shape of the cam 11 and the shape of the cam groove 12, the vanes 14 are relatively relative to the car door after the engagement of the engaging device 13 of the car door and the engaging device of the landing door. It may move. In this case, a difference occurs between the speed of the car door and the speed of the landing door. At this time, a delay occurs in the actual speed of the elevator with respect to the speed command value of the door control device 17. As a result, the opening and closing time of the elevator becomes long.

Thus, in the present embodiment, the mass of the elevator door is discriminated based on the speed of the car door and the speed of the landing door for each opening / closing position of the elevator. As a result, even when the speed of the car door and the speed of the landing door are different, the followability of the actual speed of the elevator door to the speed command value is increased.

Next, the outline | summary of the method of identifying the mass of an elevator door is demonstrated.

When the speed of the car door and the speed of the landing door are different, the driving force Fm of the electric wire rope 8 generated by the rotational drive of the motor 7 is expressed by the following equation (1).

Fm = M ₁ v ₁ '+ M ₂ v ₂ ' = M ₁ v ₁ '+ M ₂ (pv ₁ )'

= M ₁ v ₁ '+ M ₂ (p'v ₁ + pv ₁ ')

= (M ₁ + M ₂ (p'v ₁ / v ₁ '+ p)｝ v ₁ ' (1)

However, M ₁ is the total mass of the door panel 1 including the hanger roller 5 and the hanging member 2 on the side of the car. M ₂ is the total mass of the door panel including the hanger roller and the hanging member on the landing side. v ₁ is the speed of the car door. v ₂ is the speed of the landing door. p is the relative speed ratio (v ₂ / v ₁ ) of the landing door to the car door. "'" Is an operator of time derivative.

Therefore, by the formula (1), the equivalent mass of the elevator door is identified by M (= M ₁ + M ₂ (p'V ₁ / V ₁ '+ p)).

At this time, the relative speed ratio p is calculated based on the movement amount of the vane 14 with respect to the position of the car door. That is, the relative speed ratio p is preset based on the shape of the cam 11 and the shape of the cam groove 12. For this reason, the relative speed ratio p is obtained as a function depending on the opening and closing position of the elevator door. In other words, the relative speed ratio p may be a common parameter not related to the layer.

Here, the rotation angle acceleration a (= v ₁ '× r, r: pulley diameter of the pulley 6) of the motor 7, motor shaft conversion inertia J of the total mass of the elevator door, and running resistance of the elevator door The relationship between the loss b and the generated torque τ (i0 × Kt, Kt: torque constant) of the motor 7 is expressed by the following expression (2).

Ja + b = τ (2)

However, formula (2) holds true when the car door and the landing door are at the same speed. When a difference arises in the speed of a car door and the speed of a landing door, it is represented by following formula (3)-(5).

J ₁ a _α + J ₂ p _α a _α + b = τ _α (3)

J ₁ a _β + J ₂ p _β a _β + b = τ _β (4)

J ₂ = (τ _α -τ _β -J ₁ a _α + J ₁ a _β ) / (p _α a _α -p _β a _β ) (5)

However, Ji is motor shaft inertia (= Mr2). i = 1 corresponds to the car door. i = 2 corresponds to the landing door. aj is the angular acceleration of the motor shaft. tau j is the generated torque of the motor 7. pj is the ratio of the relative speed of the landing door to the car door. j = α corresponds to the position of the 1st point selected from the opening-closing position of an elevator. j = β corresponds to the 2nd position selected from the opening-closing position of an elevator. In addition, in the formula (1), (p'v ₁ / v ₁ ') <

When the elevator door moves in the same direction, the running resistance loss b does not fluctuate greatly. For this reason, the term of the running resistance loss b may be deleted by taking the difference of the data of a plurality of points in a series of door opening operations or door closing operations as shown in equations (3) and (4). At this time, when the position of the elevator door in the vicinity where the angular acceleration or torque of the motor 7 becomes the peak in the positive-and-negative direction is selected, the influence of noise is relatively small. For this reason, the identification precision of the total mass of an elevator door becomes high.

In order to identify the total weight of the elevator door with high precision, it may be to remove the mass of the car door and the mass M ₁ M ₂ of the landing door. In order to identify the mass M ₁ of the car door, only the door of the car may be opened and closed in a state excluding the concept of elevator. When it is difficult to implement in normal driving, the mass of the car door may be estimated based on the information of the size and the material of the car door. If the mass M ₁ of the car door and the relative speed ratio p are calculated, the mass M ₂ of the landing door is identified using Equation (5).

Next, the door control device 17 employing the above method will be described using FIG. 2 to identify the total mass of the elevator door.

It is a block diagram of the door control apparatus of the elevator in Embodiment 1 of this invention.

In Fig. 2, 18 is a current detector. The current detector 18 has a function of detecting a current supplied to the motor 7. 19 is a sensor. The sensor 19 has a function of outputting the rotational position of the motor 7. 20 is a speed command value generating unit. The speed command value generation unit 20 has a function of outputting a speed command value V * which is a target for the opening / closing operation of the door panel 1 so that the elevator door opens and closes within a predetermined opening / closing time. 21 is a speed calculator. The speed calculator 21 has a function of calculating the rotational speed of the motor 7 based on the output result of the sensor 19. The speed calculator 21 may estimate the rotational speed of the motor 7 based on the detection result of the current detector 18.

22 is a speed controller. The speed control unit 22 has a function of outputting the motor current command value I _q * at a predetermined time interval T so as to correct an error between the actual speed V and the speed command value V * of the elevator door. This eliminates the effects of disturbances such as traveling resistance such as clogging of dust, friction loss due to deformation of the door panel 1, and contact between the elevator door and an object during driving.

Specifically, the speed control unit 22 includes a first feed forward controller (not shown), a second feed forward controller (not shown), and a feedback controller (not shown). The feed forward controller has a function of specifying the followability of the actual speed V to the speed command value V *. The feedback controller has a function to correct rotational error. Thereby, the speed control part 22 sets the tracking performance of the actual speed V with respect to the speed command value V *, and the correction performance of a rotation error independently.

The first feed forward controller takes the speed command value V * as an input. The first feed forward controller is represented by the transfer function C _f (s) = ω _f / (s + ω _f ). Where ω _f is the frequency specifying the response characteristic of the output to the target value. This output is the input to the feedback controller.

The second feed forward controller takes the speed command value V * as an input. The second feed forward controller is represented by the transfer function Pm (s) ⁻¹ × C _f (s). However, Pm (s) is a model for controlling the door device. Specifically, it is expressed by Pm (s) = 1 / Js. However, J is the motor shaft conversion inertia of the total mass of an elevator door. In other words, the output of the second feed forward controller is the motor current command value J x V * s x C _f (s) when an ideal state without disturbance is assumed.

The feedback controller is expressed, for example, by the transfer coefficient C _b (s) = K _sp + K _si / s. Proportional gain K _sp is Ksp = J × ω _c / K _T. K _T is a torque characteristic of the motor 7. ω _c is the control crossover frequency that specifies the performance of the error correction of the output to the target value. The integral gain K _si is a correction performance of the rotation error so as to suppress the vibration of the door panel 1 by selecting the motor shaft conversion inertia J and the appropriate control exchange frequency ω _c set such that K _si ≤ K _sp × ω _c / 5. Is set.

The speed controller 22 outputs the sum of the output of the second feed forward controller and the output of the feedback controller as the motor current command value I _q *.

23 is a current controller. The current control unit 23 has a function of controlling the current value supplied to the motor 7 by feeding back the detected current value of the current detector 18 based on the motor current command value I _q *. The output of the current controller 23 is input to the motor 7 via a PWM inverter. Based on this input, the motor 7 is driven. This drive opens and closes the elevator door.

24 is a data storage unit. The data storage section 24 stores the relative speed ratio p for each opening and closing position of the elevator door. The data storage section 24 stores, as an initial value, the parameters of the total mass based on the dimensions of the device influencing the load of the motor 7 to the inertia J0 in terms of motor shafts for each floor. The apparatus which affects the load of the motor 7 is a door apparatus including a car door, a landing door, various sensors of the door panel 1, a speed reducer, a rotation system such as a pulley 6 and the like.

25 is an identification part. The identification part 25 takes the speed or position information of the elevator door as one input from the sensor 19, and uses the motor current command value _Iq * which is the output of the speed control part 22 as another input. Instead of the motor current command value I _q *, the current detection value of the current detector 18 may be used. The identification unit 25 is provided with a function of each and on the basis of the speed or position information and the motor current command value I _q of the elevator door, using the method described above, the opening and closing position of the elevator, identify the total weight of the elevator door.

In such a door control device 17, the data storage unit 24 stores an equivalent mass corresponding to the total mass of the elevator doors identified by the identification unit 25. For example, the data storage unit 24 stores the total mass of the elevator door itself reflecting the relative speed ratio p as the equivalent mass or the equivalent mass when the relative speed ratio p = 1 is used as a reference. Based on this equivalent mass, the speed control part 22 outputs motor current command value I _q * for every opening / closing position of the elevator door.

For example, with respect to the feedback controller, the motor shaft conversion inertia J is selected for each floor using the total mass data of the elevator doors stored in the data storage unit 24. Moreover, the proportional gain K _sp may be set using the relative speed ratio p.

However, the gain change of the feedback controller may be a factor of destabilization due to modeling error or the like. For this reason, it is desirable to keep the gain change of the feedback controller within a certain range.

In addition, when the difference in the total mass of the elevator doors per floor and the variation in the relative speed ratio p are small, even if a fixed value is used for the proportional gain K _sp , constant performance can be ensured.

Gain changes in the feed forward controller do not affect stability. For this reason, with respect to the feedforward controller, the motor shaft conversion inertia J may be selected for each floor using the total mass data of the elevator door stored in the data storage unit 24.

Moreover, when the difference of the gross mass of the elevator doors per floor and the fluctuation | variation of the relative speed ratio p are small, even if a fixed value is used for a gain, a fixed performance can be ensured.

In particular, if only the gain change of the feedforward is performed without changing the gain of the feedback controller, the stability of the elevator door to the speed command value V * is increased while ensuring stability.

Next, the followability of the actual speed of the elevator door with respect to the speed command value V * is demonstrated using FIG. 3 and FIG.

3 is a view showing the followability of the actual speed of the elevator door to the speed command value when the mass of the elevator door is not identified for each opening / closing position of the elevator door. It is a figure which shows the followability of the actual speed of an elevator door with respect to the speed command value at the time of identifying the mass of an elevator door for every opening / closing position of an elevator door. The abscissa in FIGS. 3 and 4 is time. 3 and 4 are the speeds of the elevator doors.

As shown in FIG. 3, when the mass of the elevator door is not identified for every opening / closing position of the elevator door, immediately after the door opening starts, the engagement low speed section is obtained. The speed setpoint V * in the interlocking low speed section is kept relatively small. In the middle of the low speed segment, the interlock device 13 of the car door and the interlock device of the landing door are engaged.

After the engaged low speed section, the speed setpoint V * gradually increases. By the driving force of the motor 7, the car door and the landing door move together. At this time, the speed of the car door does not follow the speed command value V *. Then, when the speed command value V * becomes maximum, the speed of the car door coincides with the speed command value V *. Thereafter, the speed of the car door is kept in accordance with the speed command value V *.

As shown in Fig. 4, when the mass of the elevator door is identified for every opening / closing position of the elevator door, the engagement low speed section immediately after the door opening starts. The speed setpoint V * in the interlocking low speed section is kept relatively small. In the middle of the low speed segment, the interlock device 13 of the car door and the interlock device of the landing door are engaged.

After the engaged low speed section, the speed setpoint V * gradually increases. By the driving force of the motor 7, the car door and the landing door move together. At this time, the speed of the car door follows the speed command value V *. Thereafter, the speed of the car door maintains a state consistent with the speed command value V *.

In this way, when the mass of the elevator door is identified for each opening / closing position of the elevator door, the timing at which the speed of the car door coincides with the speed command value V * becomes faster. For this reason, the operation time of an elevator is shortened.

According to the first embodiment described above, the mass of the elevator door when the motor current command value I _q * is obtained is identified for each opening / closing position of the elevator door. Specifically, the mass of the elevator door is identified for each opening / closing position of the elevator door based on the relative speed ratio p. For this reason, even when the speed of a car door and the speed of a landing door differ, the followability of the actual speed of an elevator door with respect to the speed command value V * of an elevator door can be made high. This followability is maintained even when the mass of the landing door differs from floor to floor.

In addition, the shape of the engaging device 13 of the cage | basket | car door and the engaging device of a landing door does not need to be limited to the thing of Embodiment 1. As shown in FIG. For example, the vanes 14 may be brought into contact with the engaging device of the landing hall by moving the vanes 14 in the direction of increasing the distance from each other, thereby fixing the engaging device of the landing door.

Embodiment 2 Fig.

It is a block diagram of the door control apparatus of the elevator in Embodiment 1 of this invention. In addition, the same code | symbol is attached | subjected to the same or equivalent part as Embodiment 1, and description is abbreviate | omitted.

Opening and closing the elevator door repeats acceleration and deceleration. When the acceleration / deceleration values are the same, the driving force of the motor 7 becomes larger as the total mass M of the door is larger. The magnitude of the driving force of the motor 7 affects the size and cost of the motor 7. For this reason, the performance of the motor 7 is limited.

If the speed of the car door is different from the speed of the landing door, the relative speed ratio p affects the equivalent total mass M of the elevator door. For this reason, when the acceleration in speed command value V * becomes the maximum in the area | region where the relative speed ratio p is large, the torque larger than usual is calculated | required by the motor 7.

Therefore, in Embodiment 2, in the area | region where the relative speed ratio p is large, the speed command value V * is input from the data storage part 24 into the speed command value generation part 20 so that the acceleration of a cage | basket | car door may not become the maximum value. do. The speed command value generation unit 20 adjusts the speed command value V * in accordance with the relative speed ratio p so that the motor current command value I _q * does not exceed the allowable value of the motor 7. As a result, the increase in the required torque of the motor 7 is suppressed.

Here, when the door of the elevator door is closed, energy or force is limited to prevent sticking. On the contrary, when the door of the elevator door is opened, the speed of the elevator door is relatively high. This shortens the opening / closing time of the elevator door. For this reason, when the door of an elevator door is opened, the acceleration / deceleration rate of an elevator door tends to become comparatively large. For this reason, the estimation of the required torque of the motor 7 at the time of the door opening of an elevator door becomes important.

According to the second embodiment described above, the speed command value V * is adjusted in accordance with the relative speed ratio p so that the motor current command value I _q * does not exceed the allowable value of the motor 7. By this adjustment, the opening / closing position of the elevator door in which the acceleration / deceleration speed of the elevator door becomes maximum is adjusted. For this reason, the motor 7 with a small output torque can be used.

[Industrial Availability]

As described above, the elevator door control device according to the present invention can be used for an elevator which increases the followability of the actual speed of the elevator door to the speed command value of the elevator door even when the speed of the car door and the speed of the landing door are different. Can be.

One; Door panel
2: hanging member
3: beam
4: guide rail
5: hanger
6: pulley
7: motor
8: motorized wire rope
9: connecting member
10: link
11: cam
12: cam home
13: interlock device
14: vane
15: parallel link
16: cam followers
17: door control device
18: current detector
19: sensor
20: speed setpoint generation unit
21: speed calculator
22: speed control unit
23: current controller
24: data storage
25: identification unit

Claims (4)

A generation unit for generating a speed command value of the elevator door in which the car door and the landing door are engaged with each other;
A speed control unit that obtains a motor command value for a motor driving the elevator door using the mass of the elevator door so that the speed of the elevator door matches the speed command value;
And an identification unit for identifying the mass of the elevator door when the motor command value is obtained based on the speed of the car door and the speed of the landing door for each opening / closing position of the elevator door. Door control device in the elevator. The method according to claim 1,
A storage unit that stores a speed ratio between the car door and the landing door for each opening / closing position of the elevator door;
And the identification unit identifies the mass of the elevator door by using the speed ratio for each opening / closing position of the elevator door. The method according to claim 2,
The generation unit adjusts the opening / closing position of the elevator door to maximize the acceleration / deceleration speed of the elevator door by adjusting the speed command value according to the speed ratio so that the motor command value does not exceed the allowable value of the motor. Door control device of an elevator. The method according to any one of claims 1 to 3,
The speed control unit has a feedforward function for setting the performance that the actual speed of the elevator door follows the speed command value based on the mass of the elevator door and the ability to suppress vibration of the elevator door to the mass of the elevator door. The feedback function to set based on the provided is set to be independent of each other,
The identification unit does not identify the speed of the car door and the mass of the elevator door based on the speed of the landing door for the feedback function, and the speed and the speed of the car door for the feedforward function. The door control device of an elevator characterized by identifying the mass of the elevator door based on the speed of the landing door.

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